Class 8 (Wednesday, February 2) :
NONHOLONOMIC ROBOTS
- Topics:
- Notion of a nonholonomic robot
- Basic maneuvers for a car-like robot
- Reed and Shepp curves
- Lie brackets
- Sampling-based planner
- Required Readings:
- Basic maneuvers for a car-like robot:
J.P. Laumond. Feasible Trajectories for Mobile Robots with
Kinematic and Environment Constraints. International Conference on
Intelligent Systems, Amsterdam, pages 346-354, 1986.
- Sampling-based planner:
J. Barraquand and J.C. Latombe. Nonholonomic Multibody Robots:
Controllability and Motion Planning in the Presence of Obstacles.
Algorithmica, 10:121-155, 1993.
- Other Reading:
- J.C. Latombe. Robot Motion Planning, Kluwer Academic Pub.,
Boston (MA), 1991. Chapter 9.
- A probabilistic roadmap planner for
nonholonomic robots:
S. Sekhavat, P. Svestka, J.-P. Laumond, and M.H. Overmars.
Multi-Level Path Planning for Nonholonomic Robots Using
Semi-Holonomic Subsystems. In Robotic Motion and
Manipulation, J.P. Laumond and M. Overmars (eds.),
A K Peters, Wellesley (MA), pages 79-96
(ps file).
- A collection of papers on nonholonomic motion planning:
Robot Motion Planning and Control
- Powerpoint slides -- Intro
- Powerpoint slides --
Basic maneuvers paper
- Powerpoint slides --
Sampling-based planning paper